CN214351354U

CN214351354U - Flat grinding machine capable of automatically feeding and discharging materials and production line

Info

Publication number: CN214351354U
Application number: CN202120502985.3U
Authority: CN
Inventors: 邱会生; 陈颂文; 土宇; 暨伟
Original assignee: Lens Intelligent Robot Changsha Co Ltd
Current assignee: Lens Intelligent Robot Changsha Co Ltd
Priority date: 2021-03-09
Filing date: 2021-03-09
Publication date: 2021-10-08
Anticipated expiration: 2031-03-09

Abstract

The utility model discloses a flat grinding machine with automatic feeding and discharging and a production line, wherein the flat grinding machine with automatic feeding and discharging comprises an upper grinding disc, a lower grinding disc, a moving component, a suction mechanism, a visual identification mechanism and a dental plate jig arranged on the lower grinding disc; the suction mechanism and the visual identification mechanism are both arranged on the moving component; the dental plate jig is provided with a cavity groove and a visual reference mark fixedly arranged relative to the cavity groove. The flat grinding machine capable of automatically feeding and discharging provided by the utility model can identify the position information of the visual reference mark through the visual identification mechanism, thereby obtaining the position and angle information of the corresponding cavity groove, realizing the process of automatically feeding and discharging, and reducing the labor cost; in addition, the automatic operation processes are all preset by programs, the consistency is high, the situation that the feeding of individual products is not in place can be effectively reduced, and the production efficiency is improved.

Description

Flat grinding machine capable of automatically feeding and discharging materials and production line

Technical Field

The utility model relates to a mechanical equipment technical field, more specifically say, relate to an automatic flat grinding machine of unloading on. Furthermore, the utility model discloses still relate to a production line of flat grinding machine including the unloading in above-mentioned automation.

Background

Among the prior art, disc glass flat grinding machine's simple structure, price are substantial and production technology is ripe, but at the in-process that uses, need adopt the artifical mode of going up the unloading, the manual work is placed glass in the die cavity of dental lamina tool, after glass has all been placed to all dental lamina die cavities, because the dental lamina is not standard, rotate the in-process a small number of glass and easily deviate from the reason such as deviate from putting the die cavity, whether all place in place need inspect glass again to the glass that will deviate from is again moved by hand and is put to the dental lamina. When individual glass is not put in place, the whole glass can be completely damaged after the upper grinding disc descends to press the glass, and particularly, the grinding leather of the flat grinding machine can be damaged when the flat grinding machine rotates at a high speed. Meanwhile, the manual operation is adopted, so that the labor intensity is high, the production efficiency is low, and the risk coefficient is high.

In conclusion, how to improve the production efficiency of the flat grinding machine is a problem to be solved urgently by the technical personnel in the field at present.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing an automatic flat grinding machine of going up unloading can realize the automatic unloading of going up of flat grinding machine at the in-process that uses, reduces the human cost, improves the uniformity of material loading precision.

The utility model discloses another purpose provides a production line of flat grinding machine including above-mentioned unloading in automation.

In order to achieve the above object, the present invention provides the following technical solutions:

a flat grinding machine capable of automatically feeding and discharging comprises an upper grinding disc, a lower grinding disc, a moving assembly, an absorbing mechanism, a visual identification mechanism and a tooth plate jig arranged on the lower grinding disc; the suction mechanism and the visual recognition mechanism are both arranged on the moving assembly;

the dental plate jig is provided with a cavity groove and a visual reference mark fixedly arranged relative to the cavity groove.

Preferably, the moving assembly comprises a rotating assembly, a Z-axis moving assembly, a Y-axis module, and an X-axis driving module and an X-axis driven module which are arranged in parallel; one end of the Y-axis module is slidably connected to the X-axis driving module, and the other end of the Y-axis module is slidably connected to the X-axis driven module; the rotating assembly and the Z-axis moving assembly are both arranged at the moving end of the Y-axis module;

the Y-axis module is driven by the X-axis driving module and the X-axis driven module to move along the X axis; the suction mechanism is arranged on the Z-axis moving assembly, and the visual identification mechanism is arranged on the rotating assembly.

Preferably, the rotating assembly is provided with a light source frame, and the light source frame is provided with a light source.

Preferably, the rotating assembly comprises a mounting plate fixedly mounted at the moving end of the Y-axis module, a rotating motor mounted on the mounting plate, a speed reducer connected with the output end of the rotating motor, a transmission mechanism connected with the output end of the speed reducer, and a support plate rotatably connected to the transmission mechanism;

the Z-axis moving assembly is mounted on the support plate.

Preferably, the Z-axis moving assembly comprises at least one telescopic cylinder which is connected with the support plate and extends towards the cavity groove of the dental plate jig, the suction mechanism comprises a vacuum chuck, and the vacuum chuck is installed at the extending end of the telescopic cylinder.

Preferably, the number of the telescopic cylinders is at least three, and the telescopic cylinders are uniformly distributed along the same circumference;

the same dental plate jig is provided with the same number of cavity grooves as the telescopic cylinders, and the cavity grooves are uniformly distributed along the same circumference.

Preferably, the visual identification mechanism is a visual camera, the visual reference mark is a regular polygon structure, and the number of the edges of the regular polygon structure in the same dental plate jig is the same as the number of the cavity grooves; and the cavity groove is arranged in a surrounding way by taking the center of the visual reference mark as a circle center.

Preferably, the device further comprises a torque sensor connected with the suction mechanism.

Preferably, the grinding wheel further comprises a caching mechanism arranged on the front side of the lower grinding disc, and the caching mechanism is provided with a plurality of storage grooves.

A production line comprises the flat grinding machine capable of automatically feeding and discharging.

Use the utility model provides an in-process of flat grinding machine of unloading in automation, when needs material loading, at first need remove the subassembly and drive the suction means and remove to the position of placing of product, treat the product of polishing and absorb, then drive the product and remove, at the in-process that removes, vision identification mechanism discerns the position of vision reference mark, acquire the positional information of vision reference mark, because the relative position of die cavity groove and vision reference mark is fixed, consequently, the positional information according to vision reference mark can obtain the position and the angle information in die cavity groove, then remove the subassembly and drive the position that the product removed to die cavity groove place, place the product in the die cavity inslot, accomplish the material loading.

When the blanking is needed, the visual identification mechanism is driven to move through the moving assembly at first until the visual identification mechanism identifies the corresponding visual reference mark, then the moving assembly moves to the position corresponding to the corresponding cavity groove, the sucking mechanism sucks the product after polishing, and then the moving assembly drives the product to move to the blanking position to complete the blanking.

Compared with the prior art, the utility model provides an automatic go up removal subassembly of flat grinding machine of unloading installs vision identification mechanism and suction means, the dental lamina tool is provided with the die cavity groove and the vision reference sign of setting for the die cavity groove is fixed, remove the subassembly after removing to suitable position, vision identification mechanism can discern position and angle information of vision reference sign, thereby acquire the position and the angle information of vision reference sign, and then obtain the position and the angle information of the die cavity groove that correspond, be favorable to realizing automatic unloading, reduce the human cost, and the production efficiency is improved.

Furthermore, the utility model also provides a production line of flat grinding machine including the unloading in the aforesaid automation.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic structural view of a flat grinding machine without an automatic loading and unloading mechanism;

FIG. 2 is a schematic structural diagram of a flat grinding machine according to an embodiment of the present invention;

FIG. 3 is a side view of the flat grinder of FIG. 1;

FIG. 4 is a front view of the flat grinder of FIG. 1;

FIG. 5 is a top plan view of the flat grinding mill of FIG. 1;

FIG. 6 is a schematic structural diagram of a flat grinding machine with a buffer mechanism;

FIG. 7 is a schematic structural view of a moving assembly;

FIG. 8 is a schematic view showing a connection relationship between the X-axis driving module and the Y-axis module;

FIG. 9 is a schematic structural view of a Z-axis moving assembly and a rotating assembly;

FIG. 10 is a distribution diagram of a dental plate fixture;

FIG. 11 is a top view of a dental plate fixture;

fig. 12 is a schematic view of a preset deviation setting direction.

In fig. 1 to 12:

01 is a first cylinder, 02 is a second cylinder, 03 is a third cylinder, 04 is a cross plate, 05 is a first seal ring, 06 is a second seal ring, 07 is an upper grinding disc, 08 is a clutch, 09 is a lower grinding disc, 1 is a mounting frame, 2 is a fixed block, 3 is a trapezoidal frame, 4 is a moving component, 41 is an X-axis driving module, 411 is a driving wheel, 412 is a driven wheel, 413 is a first synchronous belt, 414 is a second synchronous belt, 415 is an X-axis motor, 42 is an X-axis driven module, 43 is a Y-axis module, 431 is a first slider seat, 432 is an X-axis driving module cover plate, 433 is a belt pulling block, 434 is a belt pressing block, 435 is a linear guide rail, 436 is a slider, 437 is an L-angle code, 438 is a Y-axis motor, 439 is a second slider seat, 44 is a connecting shaft, 45 is a

mounting plate

451, 454 is a rotating motor, 452 is a speed reducer, 453 is a third synchronous belt, L-shaped plate, 46 is a vision camera, 47 is a torque sensor, 5 is a Z-axis moving component, 51 is a support plate, 52 is a telescopic cylinder, 53 is a vacuum chuck, 54 is a light source frame, 55 is a light source, 6 is a base, 7 is a buffer mechanism, 8 is a dental plate jig, 81 is a cavity groove, 82 is a visual reference mark, and 9 is a product.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The core of the utility model is to provide an automatic flat grinding machine of unloading of going up, can realize the automatic unloading of going up of flat grinding machine, reduce the human cost, the uniformity of unloading in-process operating procedure is gone up in the improvement, reduces the unsuitable condition of single product material loading, improves production efficiency. The other core of the utility model is to provide a production line of the flat grinding machine comprising the automatic feeding and discharging.

Please refer to fig. 1 to 12.

As shown in fig. 1, the flat grinding machine without the automatic loading and unloading mechanism comprises a first cylinder 01, a second cylinder 02, a third cylinder 03, a cross-over plate 04, a first sealing ring 05, a second sealing ring 06, an upper grinding disc 07, a clutch 08 and a lower grinding disc 09, wherein the first cylinder 01 drives the upper grinding disc 07 to lift in the using process, the second cylinder 02 and the third cylinder 03 are connected with the upper grinding disc 07 through the cross-over plate 04, the second cylinder 02 and the third cylinder 03 respectively control the first sealing ring 05 and the second sealing ring 06 to lift, and cutting fluid is filled in the first sealing ring 05 and the second sealing ring 06. The traditional rotary drive is arranged in the clutch 08 of the lower grinding disc 09, the rotary drive can be a combination of a motor and gear transmission, and can also be other structures meeting the requirements, so that after the upper grinding disc 07 is lowered to a position matched with the lower grinding disc 09, the upper grinding disc 07 and the lower grinding disc 09 rotate relatively to start flat grinding of a product 9 in the dental plate jig 8.

The product 9 mentioned in the present application document may be glass installed on a mobile phone, or may be ordinary glass, or other product 9 that needs to be flat-ground, and is not described herein.

The flat grinding machine capable of automatically feeding and discharging provided by the embodiment comprises an upper grinding disc 07, a lower grinding disc 09, a moving assembly 4, an absorbing mechanism, a visual identification mechanism and a tooth plate jig 8 arranged on the lower grinding disc 09; the suction mechanism and the visual identification mechanism are both arranged on the moving component 4; the dental plate jig 8 is provided with a cavity groove 81 and a visual reference mark 82 fixedly arranged with respect to the cavity groove 81.

It should be noted that the moving assembly 4 is configured to drive the visual recognition mechanism and the suction mechanism to move and rotate, so that the suction cup moves to a position corresponding to the product 9 to suck the product 9, or drive the product 9 to move to a position corresponding to the cavity groove 81, and place the product 9 in the cavity groove 81; and the visual identification mechanism can identify the position and angle of the corresponding visual reference mark 82 during the movement of the moving assembly 4.

In the process of using the flat grinding machine capable of automatically feeding and discharging, when feeding is required, the moving assembly 4 is firstly required to drive the suction mechanism to move to the placement position of the product 9, the product 9 to be ground is sucked, and then the product 9 is driven to move, in the moving process, the visual identification mechanism identifies the position of the visual reference mark 82 to obtain the position information of the visual reference mark 82, because the relative positions of the cavity groove 81 and the visual reference mark 82 are fixed, the position information of the cavity groove 81 can be obtained according to the position information of the visual reference mark 82, then the moving assembly 4 drives the product 9 to move to the position of the cavity groove 81, the product 9 is placed in the cavity groove 81, and the feeding is completed.

The obtaining of the position information of the visual reference mark 82 mentioned in this embodiment includes obtaining the position information of the center of the visual reference mark 82 and the position information of each top corner of the visual reference mark 82, so as to obtain the angle information of the visual reference mark 82.

When the blanking is needed, the visual identification mechanism is driven to move through the moving assembly 4 at first until the visual identification mechanism identifies the corresponding visual reference mark 82, then the moving assembly 4 moves to the position corresponding to the corresponding cavity groove 81, the sucking mechanism sucks the product 9 after being polished, and then the moving assembly 4 drives the product 9 to move to the blanking position to complete the blanking.

Compared with the prior art, the moving assembly of the flat grinding machine capable of automatically feeding and discharging materials provided by the embodiment is provided with the vision identification mechanism and the suction mechanism, the dental lamina jig 8 is provided with the cavity groove 81 and the vision reference mark 82 fixedly arranged relative to the cavity groove, after the moving assembly 4 moves to a proper position, the vision identification mechanism can identify the position and the angle information of the vision reference mark 82, so that the position and the angle information of the vision reference mark 82 are obtained, and further the position and the angle information of the corresponding cavity groove 81 are obtained, thereby being beneficial to realizing automatic feeding and discharging, the labor cost is reduced, and the production efficiency is improved.

On the basis of the above embodiment, the moving assembly 4 may include a rotating assembly, a Z-axis moving assembly 5, a Y-axis module 43, and an X-axis driving module 41 and an X-axis driven module 42 arranged in parallel; one end of the Y-axis module 43 is slidably connected to the X-axis driving module 41, and the other end is slidably connected to the X-axis driven module 42; the rotating component and the Z-axis moving component 5 are both arranged at the moving end of the Y-axis module 43;

the Y-axis module 43 is driven by the X-axis driving module 41 and the X-axis driven module 42 to move along the X-axis; the suction mechanism is arranged on the Z-axis moving assembly 5, and the visual identification mechanism is arranged on the rotating assembly.

Preferably, the X-axis driving module 41 and the X-axis driven module 42 which are arranged in parallel can be respectively arranged on two sides of the upper grinding disc 07, so that the structure of the flat grinding machine is more compact, and the realization of miniaturization of the flat grinding machine is facilitated.

In the using process, in order to enable the X-axis driving module 41 and the X-axis driven module 42 to synchronously rotate, the X-axis driving module 41 and the X-axis driven module 42 may be connected by a connecting shaft 44, as shown in fig. 7.

As shown in fig. 7 and 8, the X-axis driving module 41 includes a driving wheel 411, a driven wheel 412, a first synchronous belt 413, a second synchronous belt 414, and an X-axis motor 415, an output end of the X-axis motor 415 is connected to the driving wheel 411 through the second synchronous belt 414 so as to drive the driving wheel 411 to rotate, the driving wheel 411 and the driven wheel 412 are connected through the first synchronous belt 413, and the driven wheel 412 is connected to the X-axis driven module 42 through a connecting shaft 44 so as to drive the X-axis driven module 42 to move synchronously with the X-axis driving module 41. The Y-axis module 43 is connected to a first slider holder 431 via an L-code 437, the first slider holder 431 is provided with a slider 436, and the slider 436 is slidably provided with respect to a linear guide 435 provided on the X-axis drive module 41, so that the Y-axis module 43 slides in the X-axis direction. As shown in fig. 8, the apparatus further includes an X-axis driving module cover 432, a belt pressing block 434 and a belt pulling block 433, so that the X-axis motor 415 can drive the sliding block 436 to move in the rotating process; thereby driving the Y-axis module 43 to slide along the X-axis direction.

As shown in fig. 2 to 5, a mounting frame 1 is arranged on a base 6, an upper grinding disc 07 is mounted on the mounting frame 1 through a first air cylinder 01, a trapezoidal frame 3 is mounted on the mounting frame 1 through a fixing block 2, and an X-axis driving module 41 and an X-axis driven module 42 are respectively arranged on the two lower portions of the trapezoidal frame 3.

To facilitate the operation of the visual recognition mechanism, a light source holder 54 may be mounted on the rotating assembly and a light source 55 may be mounted on the light source holder 54.

The light source 55 may be an LED lighting device, or may be other structures meeting the requirement, which is not described herein.

The rotating assembly comprises a mounting plate 45 fixedly mounted at the moving end of the Y-axis module 43, a rotating motor 451 mounted on the mounting plate 45, a speed reducer 452 connected with the output end of the rotating motor 451, a transmission mechanism connected with the output end of the speed reducer 452 and a support plate 51 rotatably connected with the transmission mechanism; the Z-axis moving assembly 5 is mounted to the bracket plate 51.

Preferably, as shown in fig. 9, the transmission mechanism may include a third timing belt 453, a first pulley engaged with an output end of the rotating motor 451, and a second pulley to which the holder plate 51 is connected so as to be rotated by the second pulley. Of course, the transmission mechanism may also be a gear, a rack, or other structures, which is determined according to the actual situation and is not described herein again.

The Z-axis moving assembly 5 comprises at least one telescopic cylinder 52 which is connected to the support plate 51 and the telescopic end of which is arranged towards the cavity groove 81 of the dental plate jig 8, the suction mechanism comprises a vacuum suction cup 53, and the vacuum suction cup 53 is installed at the telescopic end of the telescopic cylinder 52.

In the actual use process, when the moving assembly 4 moves, the visual identification mechanism can firstly identify the position and the angle of the visual reference mark 82 so as to obtain the position and the angle information of the visual reference mark 82, and the relative position of the visual reference mark 82 and the cavity groove 81 is fixed, so that the position and the angle information of the cavity groove 81 can be obtained; during feeding, the rotating motor 451 is required to rotate, the support plate 51 is driven to rotate through the speed reducer 452 and the transmission mechanism until the product 9 on the suction mechanism rotates to an angle corresponding to the cavity groove 81, the product 9 is driven by the X-axis driving module 41 and the Y-axis module 43 to move to a position corresponding to the cavity groove 81, and finally the telescopic cylinder 52 extends downwards to enable the product 9 to be placed into the cavity groove 81.

In the blanking process, the visual identification mechanism can firstly identify the position and the angle of the visual reference mark 82 so as to obtain the position and the angle information of the visual reference mark 82, and the relative position of the visual reference mark 82 and the cavity groove 81 is fixed, so the position and the angle information of the cavity groove 81 can be obtained; the rotating motor 451 is required to rotate, the support plate 51 is driven to rotate through the speed reducer 452 and the transmission mechanism until the suction mechanism rotates to an angle corresponding to the cavity groove 81, the suction mechanism is driven by the X-axis driving module 41 and the Y-axis module 43 to move to a position corresponding to the cavity groove 81, finally, the telescopic cylinder 52 extends downwards, the suction mechanism sucks the product 9, and the product 9 is driven by the X-axis driving module 41, the Y-axis module 43 and the Z-axis moving assembly 5 to move to a blanking position.

As shown in fig. 9, the Y-axis module 43 is provided with a second slider holder 439, the second slider holder 439 is driven by a Y-axis motor 438 to move, the mounting plate 45 is connected with the second slider holder 439 and can be driven by the second slider holder 439 to slide along the Y-axis, the rotating motor 451 is mounted on the mounting holder, the output end of the rotating motor 451 is connected with a speed reducer 452, the output end of the speed reducer 452 outputs power through a transmission mechanism including a third synchronous belt 453 and drives the support plate 51 to rotate, the visual recognition mechanism is a visual camera 46, and the mounting plate 45 is provided with an L-shaped plate 454 for mounting the visual camera 46; the lower part of the support plate 51 is provided with three telescopic cylinders 52, and in fig. 9, the number of the telescopic cylinders 52 is three, and the three telescopic cylinders 52 are uniformly distributed along the circumferential direction, and the included angle between the adjacent two cylinders is 120 degrees; the telescopic end of any telescopic cylinder 52 is connected with a vacuum chuck 53. The holder plate 51 is further provided with a light source holder 54 and a light source 55.

The number of the telescopic cylinders 52 is at least three, and the telescopic cylinders 52 are uniformly distributed along the same circumference;

the number of the cavity grooves 81 arranged in the same dental plate jig 8 is the same as that of the telescopic cylinders 52, and the cavity grooves 81 are uniformly distributed along the same circumference.

The visual identification mechanism is a visual camera 46, the visual reference mark 82 is a regular polygon structure, and the number of sides of the regular polygon structure is the same as the number of the cavity grooves 81 in the same dental plate jig 8; and the cavity groove 81 is arranged around the center of the visual reference mark 82.

As shown in fig. 11, the visual reference marks 82 are regular triangles, the dental plate jig 8 is circular, the dental plate jig 8 is distributed on the lower grinding disc 09 along the circumferential direction, the center of the visual reference mark 82 coincides with the center of the dental plate jig 8, the number of the cavity grooves 81 is three, and the cavity grooves 81 are all rectangles with the same size, the cavity grooves 81 are uniformly distributed along the circumferential direction, the center of any cavity groove 81 corresponds to one vertex angle of the visual reference mark 82, and the length direction of any cavity groove 81 is parallel to one side of the corresponding visual reference mark 82. Knowing the coordinates of the center of the visual reference mark 82 and the coordinates of the respective vertices, the position and angle of the cavity groove 81 can be obtained.

It should be noted that, since the dental plate jig 8 is circular, the placing angle of the dental plate jig 8 is not corrected in the placing process, and therefore, in the feeding or blanking process, the angle of the cavity groove 81 needs to be recognized by the visual recognition mechanism, so that the product 9 corresponds to the angle of the cavity groove 81.

Of course, the visual reference marks 82 may also be square, regular pentagon, regular hexagon, etc., and the number of cavity grooves 81 may need to be changed specifically. For the convenience of identification, the visual reference mark 82 may be set in a color different from that of the dental plate jig 8, and the difference is obvious.

On the basis of the above embodiment, in order to facilitate the feeding, the lower grinding disc 09 may further include a buffer mechanism 7 disposed at the front side thereof, and the buffer mechanism 7 is provided with a plurality of storage grooves.

As shown in fig. 6, during the loading process, the vacuum cups 53 may directly suck the products 9 in the storage recesses, and then load the products 9 into the corresponding cavity grooves 81. Preferably, the buffer mechanism 7 can be a movable mechanism, and in the using process, a feeding person only needs to feed on one side of the equipment; or multiple layers of products 9 can be placed in the same storage groove, and the interval time of feeding is prolonged.

On the basis of the above embodiment, a torque sensor 47 connected to the suction mechanism is further included.

In the actual use process, because the requirement on the matching precision between the size of the product 9 and the size of the cavity groove 81 is high, although the visual recognition mechanism provides the position and angle information of the cavity groove 81, due to objective tolerance, equipment error and the like, if the product 9 is directly placed into the cavity groove 81 according to the obtained position and angle information, a placement error is easy to occur, so that the product 9 cannot be completely placed into the cavity groove 81. This is usually solved in the following way:

as shown in fig. 12, a connection line between the center of the dental plate jig 8 and the center of the cavity groove 81 is taken as an X-axis, a direction perpendicular to the X-axis and located in the plane of the dental plate jig 8 is taken as a Y-axis, a direction close to the center of the dental plate jig 8 is a positive direction of the X-axis, and a direction indicated by an arrow in the figure is a positive direction of the Y-axis; in use, the product 9 is moved to the preset offset position when the product 9 is to be placed into the cavity groove 81, i.e. the angle of the product 9 corresponds to the angle of the cavity groove 81 and the lower surface of the product 9 is in contact with the upper edge of the cavity groove 81.

Setting negative direction deviations of an X axis and a Y axis, wherein the specific deviation value needs to be determined according to actual conditions, but the negative direction deviation value needs to be capable of covering the deviation caused by the machining tolerance and the equipment error before, so that the product 9 is in a negative deviation position; and the torque sensor 47 is now connected to the vacuum chuck 53.

Then, the product 9 is driven to move towards the positive direction by the moving component 4, and during moving, because the X-axis direction and the Y-axis direction both have negative deviation, the moving component 4 can be controlled to move simultaneously along the positive directions of the X-axis and the Y-axis, and at the moment, when the negative deviation of the X-axis and the Y-axis is the same, the product 9 can be controlled to move along the directions which form 45 degrees with the positive directions of the X-axis and the Y-axis; when the negative deviations of the X axis and the Y axis are different, the actual moving direction of the product 9 needs to be determined according to actual conditions, the product 9 can be controlled to move along the positive direction of the X axis firstly, and after the product 9 contacts the inner side wall of the cavity groove 81, the product 9 is controlled to move along the positive direction of the Y axis secondly; or the product 9 can be controlled to move forward along the Y axis first, and then the product 9 is controlled to move forward along the X axis after the product 9 contacts the inner side wall of the cavity groove 81; and will not be described in detail herein. When the product 9 is rectangular, firstly moving along the X axis (positive direction of the Y axis) to one side surface of the product 9 to be in contact with the inner side surface of the cavity groove 81, triggering the threshold value of the torque sensor 47 in the X axis (Y axis) direction, then continuously moving along the Y axis (positive direction of the X axis) to the other side surface of the product 9 to be in contact with the inner side surface of the cavity groove 81, and triggering the threshold value of the torque sensor 47 in the Y axis (X axis) direction; the movement is stopped and the vacuum of the vacuum chuck 53 is released, so that the product 9 can enter the cavity groove 81. When the product 9 is in other shapes, the product 9 is driven to move towards the positive directions of the X axis and the Y axis until the edge of the product 9 contacts the inner side surface of the cavity groove 81, and the whole product 9 is completely positioned in the cavity groove 81, the threshold value of the torque sensor 47 is triggered, and the movement is stopped.

It should be noted that the threshold of the torque sensor 47 needs to be determined according to actual conditions, and in the actual use process, after the threshold of the torque sensor 47 is triggered, a corresponding warning mechanism, such as a whistle warning tone, may be set to remind that the movement needs to be stopped at this time, so as to avoid the occurrence of an erroneous movement of the moving component 4.

Of course, a positive offset may be provided, and the movement may be in a negative direction; or one axis is provided with a positive deviation and the other axis is provided with a negative deviation; the determination is specifically determined according to the actual situation, and details are not described herein.

It should be explained that, when the product 9 is located at the preset deviation position, the lower surface of the product is in contact with the upper surface of the cavity groove 81, and when one end of the lower surface of the product 9 is no longer in contact with the upper surface of the cavity groove 81 in the process of moving from the preset deviation position to the positive direction of the X axis and the positive direction of the Y axis, under the elastic action of the telescopic cylinder 52, the end of the lower surface of the product 9 which is not in contact with the upper surface of the cavity groove 81 moves downward, and at this time, the end of the lower surface of the product 9 which is in contact with the upper surface of the cavity groove 81 does not move downward, so that the product 9 is inclined; therefore, when moving in the positive directions of the X and Y axes, the side edge of the product 9 touches the inner side surface of the cavity groove 81. The product 9 is inclined by the elasticity of the telescopic cylinder 52, and the product 9 can have a sufficient contact depth with the cavity groove 81 when moving forward in an inclined state, which is generally suitable for the case that the product 9 has a thin thickness and the cavity groove 81 has a shallow depth, for example, the product 9 has a thin thickness such as mobile phone glass.

When the product 9 is thick and the cavity groove 81 is deep, and the elasticity of the telescopic cylinder 52 is insufficient to enable the product 9 to descend until the side surface of the product 9 has a sufficient contact depth with the cavity groove 81, the telescopic cylinder 52 needs to properly extend downwards for a certain distance in the process of moving in the opposite direction of the preset deviation so as to increase the inclination angle of the product 9 and enable the product 9 to have a sufficient contact depth when contacting with the inner side surface of the cavity groove 81.

And in the process of moving from the preset deviation position to the opposite direction of the preset deviation, a preset distance needs to be set, so that the moving assembly 4 moves within the preset distance, and it is avoided that the moving assembly 4 moves too far, which causes feeding errors, and the preset distance mentioned in this embodiment can be set for each axis according to actual conditions, including the preset distance for the X axis and the preset distance for the Y axis, and the preset distance is greater than the absolute value of the preset deviation, so as to ensure that the product 9 can contact the inner side wall surface of the cavity groove 81 in the process of moving to the opposite direction of the preset deviation, so as to feed the product 9 to a proper position.

Then, in order to further ensure that the product 9 is placed in place, the moving mechanism may be temporarily kept in contact with the product 9, and drive the product 9 to rotate in a small circle, which may be in an alternate rotation between counterclockwise and clockwise, and keep the product 9 pressed downward, so that the impurities in the cavity groove 81 are squeezed out, and the product 9 is ensured to be fed to the setting position.

On the basis of the above embodiment, when the product 9 moves to the position corresponding to the negative deviation and the angle of the product 9 corresponds to the angle of the cavity groove 81, the vacuum of the vacuum chuck 53 can be released, so that the vacuum chuck 53 contacts with the product 9, the product 9 is driven by friction to move simultaneously along the positive directions of the X axis and the Y axis, when the product 9 is rectangular, the adjacent edges of the two sides of the product 9 contact with the edges of the cavity groove 81, the threshold value of the torque sensor 47 is triggered, the movement is stopped, the vacuum of the vacuum chuck 53 is released, and the product 9 can enter the cavity groove 81.

It should be noted that the friction force between the suction mechanism and the product 9 is used to drive the product 9 to move, which is suitable for the case that the surface of the product 9 is smooth, and the static friction force between the suction mechanism and the product 9 is enough to drive the product 9 to move when the vacuum of the suction mechanism is closed; under the condition that the product 9 is driven to move by static friction force, the moment sensor 47 can be arranged, or the moment sensor 47 is not arranged, when the moment sensor 47 is not arranged, after one side surface of the product 9 is contacted with the inner side surface of the cavity groove 81, the suction mechanism continues to move, so that relative motion is generated between the product 9 and the suction mechanism until the suction mechanism moves to a position where the suction mechanism is not contacted with the product 9.

The embodiment can shorten the working time of the vacuum chuck 53, reduce energy consumption and reduce production cost; and in the subsequent process of separating the vacuum sucker 53 from the product 9, the separation time can be shortened, and the situation that the vacuum sucker 53 is too tightly contacted with the product 9 and is not easy to separate is avoided.

In the blanking process, the steps comprise:

controlling the rotating assembly to rotate to an angle corresponding to the cavity groove 81; at this time, if a plurality of suction cups 53 are provided, it is necessary to make the suction cups 53 correspond to the cavity grooves 81, respectively, so as to suck a plurality of products 9 at the same time.

Controlling the moving assembly 4 to move to a position corresponding to the cavity groove 81; it is here meant that the moving assembly 4 is moved to a position where it can suck up the product 9.

The suction mechanism is controlled to open the vacuum and suck the product 9 located in the cavity groove 81.

The moving component 4 is controlled to drive the product 9 to move to the blanking position.

Except the flat grinding machine of the unloading in above-mentioned automation, the utility model discloses still provide a production line of the flat grinding machine of the unloading in automation including the above-mentioned embodiment is disclosed, the structure of other each part of this production line please refer to prior art, this text is no longer repeated.

It should be noted that, in the present specification, the first timing belt 413, the second timing belt 414, and the third timing belt 453, the first cylinder 01, the second cylinder 02, and the third cylinder 03, the first seal ring 05 and the second seal ring 06, the first slider holder 431 and the second slider holder 439, and the first pulley and the second pulley are only mentioned for distinguishing the difference of the positions, and are not described in the order.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The utility model provides an arbitrary compound mode of all embodiments all is in this utility model's a protection scope, does not do here and gives unnecessary details.

It is right above that the utility model provides an automatic flat grinding machine and production line of going up unloading have carried out detailed introduction. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims

1. A flat grinding machine capable of automatically feeding and discharging comprises an upper grinding disc (07) and a lower grinding disc (09), and is characterized by further comprising a moving assembly (4), an absorbing mechanism, a visual recognition mechanism and a tooth plate jig (8) arranged on the lower grinding disc (09); the suction mechanism and the visual recognition mechanism are both arranged on the moving component (4);

the dental plate jig (8) is provided with a cavity groove (81) and a visual reference mark (82) which is fixedly arranged relative to the cavity groove (81).

2. The flat grinding machine with automatic feeding and discharging functions as claimed in claim 1, wherein the moving assembly (4) comprises a rotating assembly, a Z-axis moving assembly (5), a Y-axis module (43) and an X-axis driving module (41) and an X-axis driven module (42) which are arranged in parallel; one end of the Y-axis module (43) is connected with the X-axis driving module (41) in a sliding mode, and the other end of the Y-axis module is connected with the X-axis driven module (42) in a sliding mode; the rotating assembly and the Z-axis moving assembly (5) are both arranged at the moving end of the Y-axis module (43);

the suction mechanism is arranged on the Z-axis moving assembly (5), and the visual identification mechanism is arranged on the rotating assembly.

3. The flatmill with automatic loading and unloading of claim 2, characterized in that the rotating assembly is mounted with a light source rack (54), the light source rack (54) being provided with a light source (55).

4. The flat grinding machine capable of automatically feeding and discharging as claimed in claim 3, wherein the rotating assembly comprises a mounting plate (45) fixedly mounted at a moving end of the Y-axis module (43), a rotating motor (451) mounted on the mounting plate (45), a speed reducer (452) connected with an output end of the rotating motor (451), a transmission mechanism connected with an output end of the speed reducer (452), and a support plate (51) rotatably connected with the transmission mechanism;

the Z-axis moving assembly (5) is mounted on the support plate (51).

5. The flat grinding machine with automatic feeding and discharging functions as claimed in claim 4, wherein the Z-axis moving assembly (5) comprises at least one telescopic cylinder (52) which is connected to the support plate (51) and has a telescopic end facing the cavity groove (81) of the dental plate jig (8), the suction mechanism comprises a vacuum suction cup (53), and the vacuum suction cup (53) is mounted at the telescopic end of the telescopic cylinder (52).

6. The flat grinding machine with automatic feeding and discharging functions as claimed in claim 5, wherein the number of the telescopic cylinders (52) is at least three, and the telescopic cylinders (52) are uniformly distributed along the same circumference;

the number of the cavity grooves (81) arranged in the same dental plate jig (8) is the same as that of the telescopic cylinders (52), and the cavity grooves (81) are uniformly distributed along the same circumference.

7. The flat grinding machine with automatic feeding and discharging functions as claimed in claim 6, wherein the visual identification mechanism is a visual camera (46), the visual reference mark (82) is a regular polygon structure, and the number of sides of the regular polygon structure in the same dental plate jig (8) is the same as the number of the cavity grooves (81); and the cavity groove (81) is arranged around the center of the visual reference mark (82).

8. The flat grinding machine with automatic feeding and discharging functions as claimed in any one of claims 1 to 7, further comprising a torque sensor (47) connected with the suction mechanism.

9. The flat grinding machine with automatic feeding and discharging functions as claimed in any one of claims 1 to 7, further comprising a buffer mechanism (7) arranged on the front side of the lower grinding disc (09), wherein the buffer mechanism (7) is provided with a plurality of storage grooves.

10. A production line, characterized by comprising the flat grinding machine with automatic feeding and discharging of any one of claims 1 to 9.